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<li class="toctree-l2"><a class="reference internal" href="../../../docs/concepts/about_spot.html">About Spot</a></li>
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<li class="toctree-l1"><a class="reference internal" href="../../../docs/python/README.html">Python</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="../../../python/examples/directory/README.html">Directory</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../../../python/examples/get_image/README.html">Get Image</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/examples/get_world_objects/README.html">Get World Objects</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/examples/get_mission_state/README.html">Get Mission State</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/examples/estop/README.html">E-Stop</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../../../python/examples/arm_constrained_manipulation/README.html">Arm Constrained Manipulation</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../../../python/examples/arm_gaze/README.html">Arm Gaze Command</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/examples/arm_surface_contact/README.html">Arm Command with Surface Contact</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/examples/arm_door/README.html">Arm Door Opening Command</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/examples/arm_walk_to_object/README.html">Walk to And Pick Up Object</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/examples/arm_gcode/README.html">Writing Gcode</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../../../python/examples/docs/payloads_examples.html">Payloads and Registration Examples</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="../../../python/examples/self_registration/README.html">Self Registration</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/examples/service_faults/README.html">Faults</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../../../python/examples/core_io_gpio/README.html">CORE I/O GPIO</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/examples/metrics_over_coreio/README.html">Overview</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../../../python/examples/docs/perception_world_objects_examples.html">Perception and World Objects Examples</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="../../../python/examples/gripper_camera_params/README.html">Gripper Camera Parameters</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/examples/spot_cam/README.html">Spot CAM Services</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../../../python/examples/stitch_front_images/README.html">Stitch Front Images</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/examples/get_depth_plus_visual_image/README.html">Project Depth Data on Visual Images</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/examples/service_customization/custom_parameter_image_server/README.html">Custom Parameter Image Server</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../../../python/examples/docs/data_acquisition_examples.html">Data Acquisition Examples</a><ul>
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<li class="toctree-l5"><a class="reference internal" href="../../../python/examples/data_acquisition_service/signals_coreio_modem_plugin/README.html">Modem Signals</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../../../python/examples/service_faults/README.html">Faults</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/examples/service_customization/custom_parameter_image_server/README.html">Custom Parameter Image Service</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/examples/service_customization/custom_parameters_data_acquisition/README.html">Custom Parameter Data Acquisition Plugin</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/examples/get_image/README.html">Test Image Service Implementation with Get Image</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/examples/post_docking_callbacks/README.html">Post Docking Callbacks</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/gps/README.html">GPS</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/gps/aggregator_client.html">Aggregator Client</a></li>
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<li class="toctree-l5"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/gps/ntrip_client.html">NTRIP Client</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/image.html">Image</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/inverse_kinematics.html">Inverse Kinematics</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/keepalive.html">Keep Alive</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/lease.html">Lease</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/lease_resource_hierarchy.html">Lease Resource Hierarchy</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/payload_software_update.html">Payload Software Update</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/payload_software_update_initiation.html">Payload Software Update Initiation</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/payload.html">Payload</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/point_cloud.html">Point Cloud</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/power.html">Power</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/processors.html">Processors</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/ray_cast.html">Ray casting</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/recording.html">Recording</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/robot_command.html">Robot Command</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/robot_id.html">Robot ID</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/robot.html">Robot</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/robot_state.html">Robot State</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/sdk.html">SDK</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/spot_cam/README.html">Spot CAM</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/spot_cam/audio.html">Audio</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/spot_cam/compositor.html">Compositor</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/spot_cam/health.html">Health</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/spot_cam/lighting.html">Lighting</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/spot_cam/lights_helper.html">Lights Helper</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/spot_cam/media_log.html">Media Log</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/spot_cam/network.html">Network</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/spot_cam/power.html">Power</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/spot_cam/ptz.html">PTZ</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/spot_cam/streamquality.html">Stream Quality</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/spot_cam/version.html">Version</a></li>
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</li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/spot_check.html">Spot Check</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/time_sync.html">Time Sync</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/token_cache.html">Token Cache</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/token_manager.html">Token Manager</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/units_helpers.html">Units Helpers</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/util.html">Util</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/world_object.html">World Object</a></li>
</ul>
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<li class="toctree-l3"><a class="reference internal" href="../../../python/bosdyn-core/src/bosdyn/README.html">Core</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-core/src/bosdyn/bddf/README.html">BDDF</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../../python/bosdyn-core/src/bosdyn/bddf/base_data_reader.html">Base Data Reader</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../../python/bosdyn-core/src/bosdyn/bddf/block_writer.html">Block Writer</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../../python/bosdyn-core/src/bosdyn/bddf/bosdyn.html">BDDF Conventions</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../../python/bosdyn-core/src/bosdyn/bddf/common.html">Common</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../../python/bosdyn-core/src/bosdyn/bddf/data_reader.html">Data Reader</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../../python/bosdyn-core/src/bosdyn/bddf/data_writer.html">Data Writer</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../../python/bosdyn-core/src/bosdyn/bddf/file_indexer.html">File Indexer</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../../python/bosdyn-core/src/bosdyn/bddf/grpc_proto_reader.html">GRPC Proto Reader</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../../python/bosdyn-core/src/bosdyn/bddf/grpc_reader.html">GRPC Reader</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../../python/bosdyn-core/src/bosdyn/bddf/grpc_service_reader.html">GRPC Service Reader</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../../python/bosdyn-core/src/bosdyn/bddf/grpc_service_writer.html">GRPC Service Writer</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../../python/bosdyn-core/src/bosdyn/bddf/message_reader.html">Message Reader</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../../python/bosdyn-core/src/bosdyn/bddf/pod_series_reader.html">POD Series Reader</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../../python/bosdyn-core/src/bosdyn/bddf/pod_series_writer.html">POD Series Writer</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../../python/bosdyn-core/src/bosdyn/bddf/protobuf_channel_reader.html">Protobuf Channel Reader</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../../python/bosdyn-core/src/bosdyn/bddf/protobuf_reader.html">Protobuf Reader</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../../python/bosdyn-core/src/bosdyn/bddf/protobuf_series_writer.html">Protobuf Series Writer</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../../python/bosdyn-core/src/bosdyn/bddf/stream_data_reader.html">Stream Data Reader</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-core/src/bosdyn/geometry.html">Geometry</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-core/src/bosdyn/util.html">Util</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-core/src/bosdyn/deprecated.html">Deprecated</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../../../python/bosdyn-mission/src/bosdyn/mission/README.html">Mission</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-mission/src/bosdyn/mission/client.html">Client</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-mission/src/bosdyn/mission/constants.html">Constants</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-mission/src/bosdyn/mission/exceptions.html">Exceptions</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-mission/src/bosdyn/mission/remote_client.html">Remote Client</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-mission/src/bosdyn/mission/server_util.html">Server Util</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-mission/src/bosdyn/mission/util.html">Util</a></li>
</ul>
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  <h1>Source code for bosdyn.client.time_sync</h1><div class="highlight"><pre>
<span></span><span class="c1"># Copyright (c) 2023 Boston Dynamics, Inc.  All rights reserved.</span>
<span class="c1">#</span>
<span class="c1"># Downloading, reproducing, distributing or otherwise using the SDK Software</span>
<span class="c1"># is subject to the terms and conditions of the Boston Dynamics Software</span>
<span class="c1"># Development Kit License (20191101-BDSDK-SL).</span>

<span class="sd">&quot;&quot;&quot;A client for the time-sync service.</span>

<span class="sd">The time-sync service helps track the difference between the robot&#39;s system clock and the</span>
<span class="sd">system clock of clients, and sends an estimate of this difference to the client.  The client</span>
<span class="sd">uses this information when it needs to send a timestamp to the robot in a request proto.</span>
<span class="sd">Timestamps in request protos generally need to be specified relative to the robot&#39;s system clock.</span>
<span class="sd">&quot;&quot;&quot;</span>
<span class="kn">import</span> <span class="nn">time</span>
<span class="kn">from</span> <span class="nn">threading</span> <span class="kn">import</span> <span class="n">Event</span><span class="p">,</span> <span class="n">Lock</span><span class="p">,</span> <span class="n">Thread</span>

<span class="kn">from</span> <span class="nn">google.protobuf</span> <span class="kn">import</span> <span class="n">duration_pb2</span>

<span class="kn">from</span> <span class="nn">bosdyn.api</span> <span class="kn">import</span> <span class="n">time_sync_pb2</span><span class="p">,</span> <span class="n">time_sync_service_pb2_grpc</span>
<span class="kn">from</span> <span class="nn">bosdyn.api.time_range_pb2</span> <span class="kn">import</span> <span class="n">TimeRange</span>
<span class="kn">from</span> <span class="nn">bosdyn.client.robot_command</span> <span class="kn">import</span> <span class="n">NoTimeSyncError</span><span class="p">,</span> <span class="n">_TimeConverter</span>
<span class="kn">from</span> <span class="nn">bosdyn.util</span> <span class="kn">import</span> <span class="p">(</span><span class="n">RobotTimeConverter</span><span class="p">,</span> <span class="n">now_nsec</span><span class="p">,</span> <span class="n">now_sec</span><span class="p">,</span> <span class="n">nsec_to_timestamp</span><span class="p">,</span> <span class="n">parse_timespan</span><span class="p">,</span>
                         <span class="n">set_timestamp_from_nsec</span><span class="p">,</span> <span class="n">timestamp_to_nsec</span><span class="p">)</span>

<span class="kn">from</span> <span class="nn">.common</span> <span class="kn">import</span> <span class="n">BaseClient</span><span class="p">,</span> <span class="n">common_header_errors</span>
<span class="kn">from</span> <span class="nn">.exceptions</span> <span class="kn">import</span> <span class="n">Error</span>


<div class="viewcode-block" id="TimeSyncError"><a class="viewcode-back" href="../../../python/bosdyn-client/src/bosdyn/client/time_sync.html#bosdyn.client.time_sync.TimeSyncError">[docs]</a><span class="k">class</span> <span class="nc">TimeSyncError</span><span class="p">(</span><span class="n">Error</span><span class="p">):</span>
<span class="w">    </span><span class="sd">&quot;&quot;&quot;General class of errors for TimeSync non-response / non-grpc errors.&quot;&quot;&quot;</span></div>


<div class="viewcode-block" id="NotEstablishedError"><a class="viewcode-back" href="../../../python/bosdyn-client/src/bosdyn/client/time_sync.html#bosdyn.client.time_sync.NotEstablishedError">[docs]</a><span class="k">class</span> <span class="nc">NotEstablishedError</span><span class="p">(</span><span class="n">TimeSyncError</span><span class="p">):</span>
<span class="w">    </span><span class="sd">&quot;&quot;&quot;Client has not established time-sync with the robot.&quot;&quot;&quot;</span></div>


<div class="viewcode-block" id="TimedOutError"><a class="viewcode-back" href="../../../python/bosdyn-client/src/bosdyn/client/time_sync.html#bosdyn.client.time_sync.TimedOutError">[docs]</a><span class="k">class</span> <span class="nc">TimedOutError</span><span class="p">(</span><span class="n">TimeSyncError</span><span class="p">):</span>
<span class="w">    </span><span class="sd">&quot;&quot;&quot;Exceeded deadline to achieve time-sync.&quot;&quot;&quot;</span></div>


<div class="viewcode-block" id="InactiveThreadError"><a class="viewcode-back" href="../../../python/bosdyn-client/src/bosdyn/client/time_sync.html#bosdyn.client.time_sync.InactiveThreadError">[docs]</a><span class="k">class</span> <span class="nc">InactiveThreadError</span><span class="p">(</span><span class="n">TimeSyncError</span><span class="p">):</span>
<span class="w">    </span><span class="sd">&quot;&quot;&quot;Time-sync thread is no longer running.&quot;&quot;&quot;</span></div>


<div class="viewcode-block" id="TimeSyncClient"><a class="viewcode-back" href="../../../python/bosdyn-client/src/bosdyn/client/time_sync.html#bosdyn.client.time_sync.TimeSyncClient">[docs]</a><span class="k">class</span> <span class="nc">TimeSyncClient</span><span class="p">(</span><span class="n">BaseClient</span><span class="p">):</span>
<span class="w">    </span><span class="sd">&quot;&quot;&quot;A client for establishing time-sync with a server/robot.&quot;&quot;&quot;</span>
    <span class="n">default_service_name</span> <span class="o">=</span> <span class="s1">&#39;time-sync&#39;</span>
    <span class="n">service_type</span> <span class="o">=</span> <span class="s1">&#39;bosdyn.api.TimeSyncService&#39;</span>

    <span class="k">def</span> <span class="fm">__init__</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
        <span class="nb">super</span><span class="p">(</span><span class="n">TimeSyncClient</span><span class="p">,</span> <span class="bp">self</span><span class="p">)</span><span class="o">.</span><span class="fm">__init__</span><span class="p">(</span><span class="n">time_sync_service_pb2_grpc</span><span class="o">.</span><span class="n">TimeSyncServiceStub</span><span class="p">)</span>

<div class="viewcode-block" id="TimeSyncClient.get_time_sync_update"><a class="viewcode-back" href="../../../python/bosdyn-client/src/bosdyn/client/time_sync.html#bosdyn.client.time_sync.TimeSyncClient.get_time_sync_update">[docs]</a>    <span class="k">def</span> <span class="nf">get_time_sync_update</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">previous_round_trip</span><span class="p">,</span> <span class="n">clock_identifier</span><span class="p">,</span> <span class="o">**</span><span class="n">kwargs</span><span class="p">):</span>
<span class="w">        </span><span class="sd">&quot;&quot;&quot;Obtain an initial or updated timesync estimate with server.</span>

<span class="sd">        Args:</span>
<span class="sd">            previous_round_trip (bosdyn.api.TimeSyncRoundTrip): None on first rpc call, then</span>
<span class="sd">                                                                fill out with previous response</span>
<span class="sd">                                                                from server.</span>
<span class="sd">            clock_identifier (string): Empty on first call, assigned by server in first response.</span>

<span class="sd">        Raises:</span>
<span class="sd">            RpcError: Problem communicating with the robot.</span>
<span class="sd">        &quot;&quot;&quot;</span>
        <span class="n">req</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_get_time_sync_update_request</span><span class="p">(</span><span class="n">previous_round_trip</span><span class="p">,</span> <span class="n">clock_identifier</span><span class="p">)</span>
        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">call</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_stub</span><span class="o">.</span><span class="n">TimeSyncUpdate</span><span class="p">,</span> <span class="n">req</span><span class="p">,</span> <span class="kc">None</span><span class="p">,</span> <span class="n">common_header_errors</span><span class="p">,</span>
                         <span class="n">copy_request</span><span class="o">=</span><span class="kc">False</span><span class="p">,</span> <span class="o">**</span><span class="n">kwargs</span><span class="p">)</span></div>

<div class="viewcode-block" id="TimeSyncClient.get_time_sync_update_async"><a class="viewcode-back" href="../../../python/bosdyn-client/src/bosdyn/client/time_sync.html#bosdyn.client.time_sync.TimeSyncClient.get_time_sync_update_async">[docs]</a>    <span class="k">def</span> <span class="nf">get_time_sync_update_async</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">previous_round_trip</span><span class="p">,</span> <span class="n">clock_identifier</span><span class="p">,</span> <span class="o">**</span><span class="n">kwargs</span><span class="p">):</span>
<span class="w">        </span><span class="sd">&quot;&quot;&quot;Async version of get_time_sync_update()&quot;&quot;&quot;</span>
        <span class="n">req</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_get_time_sync_update_request</span><span class="p">(</span><span class="n">previous_round_trip</span><span class="p">,</span> <span class="n">clock_identifier</span><span class="p">)</span>
        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">call_async</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_stub</span><span class="o">.</span><span class="n">TimeSyncUpdate</span><span class="p">,</span> <span class="n">req</span><span class="p">,</span> <span class="kc">None</span><span class="p">,</span> <span class="n">common_header_errors</span><span class="p">,</span>
                               <span class="n">copy_request</span><span class="o">=</span><span class="kc">False</span><span class="p">,</span> <span class="o">**</span><span class="n">kwargs</span><span class="p">)</span></div>


    <span class="nd">@staticmethod</span>
    <span class="k">def</span> <span class="nf">_get_time_sync_update_request</span><span class="p">(</span><span class="n">previous_round_trip</span><span class="p">,</span> <span class="n">clock_identifier</span><span class="p">):</span>
        <span class="k">return</span> <span class="n">time_sync_pb2</span><span class="o">.</span><span class="n">TimeSyncUpdateRequest</span><span class="p">(</span><span class="n">previous_round_trip</span><span class="o">=</span><span class="n">previous_round_trip</span><span class="p">,</span>
                                                   <span class="n">clock_identifier</span><span class="o">=</span><span class="n">clock_identifier</span><span class="p">)</span></div>


<span class="k">def</span> <span class="nf">_get_time_sync_status_value</span><span class="p">(</span><span class="n">response</span><span class="p">):</span>
    <span class="k">return</span> <span class="n">response</span><span class="o">.</span><span class="n">time_sync_status_map</span>


<div class="viewcode-block" id="robot_time_range_from_nanoseconds"><a class="viewcode-back" href="../../../python/bosdyn-client/src/bosdyn/client/time_sync.html#bosdyn.client.time_sync.robot_time_range_from_nanoseconds">[docs]</a><span class="k">def</span> <span class="nf">robot_time_range_from_nanoseconds</span><span class="p">(</span><span class="n">start_nsec</span><span class="p">,</span> <span class="n">end_nsec</span><span class="p">,</span> <span class="n">time_sync_endpoint</span><span class="o">=</span><span class="kc">None</span><span class="p">):</span>
<span class="w">    </span><span class="sd">&quot;&quot;&quot;Generate timespan as a TimeRange proto, in robot time.</span>

<span class="sd">    If time_sync_endpoint is a TimeSyncEndpoint, the time_spec is in the local clock and will</span>
<span class="sd">     be converted to robot_time.</span>
<span class="sd">    If the input times are already in the robot clock, do not specify time_sync_endpoint and</span>
<span class="sd">     the times will not be converted.</span>

<span class="sd">    Args:</span>
<span class="sd">      start_nsec            nanoseconds since the Unix epoch or None</span>
<span class="sd">      end_nsec              nanoseconds since the Unix epoch or None</span>
<span class="sd">      time_sync_endpoint    Either TimeSyncEndpoint or None.</span>

<span class="sd">    Returns:</span>
<span class="sd">      return bosdyn.api.TimeRange  time range in robot time</span>
<span class="sd">    &quot;&quot;&quot;</span>
    <span class="n">time_range</span> <span class="o">=</span> <span class="n">TimeRange</span><span class="p">()</span>
    <span class="n">converter</span> <span class="o">=</span> <span class="n">time_sync_endpoint</span><span class="o">.</span><span class="n">get_robot_time_converter</span><span class="p">()</span> <span class="k">if</span> <span class="n">time_sync_endpoint</span> <span class="k">else</span> <span class="kc">None</span>

    <span class="k">def</span> <span class="nf">_convert_nsec</span><span class="p">(</span><span class="n">nsec</span><span class="p">):</span>
        <span class="n">timestamp_proto</span> <span class="o">=</span> <span class="n">nsec_to_timestamp</span><span class="p">(</span><span class="nb">int</span><span class="p">(</span><span class="n">nsec</span><span class="p">))</span>
        <span class="k">if</span> <span class="ow">not</span> <span class="n">time_sync_endpoint</span><span class="p">:</span>
            <span class="k">return</span> <span class="n">timestamp_proto</span>
        <span class="k">return</span> <span class="n">converter</span><span class="o">.</span><span class="n">robot_timestamp_from_local</span><span class="p">(</span><span class="n">timestamp_proto</span><span class="p">)</span>

    <span class="c1"># pylint: disable=no-member</span>
    <span class="k">if</span> <span class="n">start_nsec</span><span class="p">:</span>
        <span class="n">time_range</span><span class="o">.</span><span class="n">start</span><span class="o">.</span><span class="n">CopyFrom</span><span class="p">(</span><span class="n">_convert_nsec</span><span class="p">(</span><span class="n">start_nsec</span><span class="p">))</span>
    <span class="k">if</span> <span class="n">end_nsec</span><span class="p">:</span>
        <span class="n">time_range</span><span class="o">.</span><span class="n">end</span><span class="o">.</span><span class="n">CopyFrom</span><span class="p">(</span><span class="n">_convert_nsec</span><span class="p">(</span><span class="n">end_nsec</span><span class="p">))</span>

    <span class="k">return</span> <span class="n">time_range</span></div>


<div class="viewcode-block" id="robot_time_range_from_datetimes"><a class="viewcode-back" href="../../../python/bosdyn-client/src/bosdyn/client/time_sync.html#bosdyn.client.time_sync.robot_time_range_from_datetimes">[docs]</a><span class="k">def</span> <span class="nf">robot_time_range_from_datetimes</span><span class="p">(</span><span class="n">start_datetime</span><span class="p">,</span> <span class="n">end_datetime</span><span class="p">,</span> <span class="n">time_sync_endpoint</span><span class="o">=</span><span class="kc">None</span><span class="p">):</span>
<span class="w">    </span><span class="sd">&quot;&quot;&quot;Generate timespan as a TimeRange proto, in robot time.</span>

<span class="sd">    If time_sync_endpoint is a TimeSyncEndpoint, the time_spec is in the local clock and will</span>
<span class="sd">     be converted to robot_time.</span>
<span class="sd">    If the input times are already in the robot clock, do not specify time_sync_endpoint and</span>
<span class="sd">     the times will not be converted.</span>

<span class="sd">    Args:</span>
<span class="sd">      start_datetime:       timestamp.timestamp or None</span>
<span class="sd">      end_datetime:         timestamp.timestamp or None</span>
<span class="sd">      time_sync_endpoint:   Either TimeSyncEndpoint or None.</span>

<span class="sd">    Returns:</span>
<span class="sd">      return bosdyn.api.TimeRange  time range in robot time</span>
<span class="sd">    &quot;&quot;&quot;</span>

    <span class="k">def</span> <span class="nf">_datetime_to_nsec</span><span class="p">(</span><span class="n">date_time</span><span class="p">):</span>
        <span class="k">if</span> <span class="n">date_time</span><span class="p">:</span>
            <span class="k">return</span> <span class="n">date_time</span><span class="o">.</span><span class="n">timestamp</span><span class="p">()</span> <span class="o">*</span> <span class="mf">1e9</span>
        <span class="k">return</span> <span class="kc">None</span>

    <span class="k">return</span> <span class="n">robot_time_range_from_nanoseconds</span><span class="p">(</span><span class="n">_datetime_to_nsec</span><span class="p">(</span><span class="n">start_datetime</span><span class="p">),</span>
                                             <span class="n">_datetime_to_nsec</span><span class="p">(</span><span class="n">end_datetime</span><span class="p">),</span> <span class="n">time_sync_endpoint</span><span class="p">)</span></div>


<div class="viewcode-block" id="timespec_to_robot_timespan"><a class="viewcode-back" href="../../../python/bosdyn-client/src/bosdyn/client/time_sync.html#bosdyn.client.time_sync.timespec_to_robot_timespan">[docs]</a><span class="k">def</span> <span class="nf">timespec_to_robot_timespan</span><span class="p">(</span><span class="n">timespan_spec</span><span class="p">,</span> <span class="n">time_sync_endpoint</span><span class="o">=</span><span class="kc">None</span><span class="p">):</span>
<span class="w">    </span><span class="sd">&quot;&quot;&quot;Generate timespan as TimeRange proto, in robot time.</span>

<span class="sd">    If time_sync_endpoint is a TimeSyncEndpoint, the time_spec is in the local clock and will</span>
<span class="sd">     be converted to robot_time.</span>
<span class="sd">    If the input times are already in the robot clock, do not specify time_sync_endpoint and</span>
<span class="sd">     the times will not be converted.</span>

<span class="sd">    Args:</span>
<span class="sd">      timespan_spec        &#39;{val}-{val}&#39; or &#39;{val}&#39; time spec string</span>
<span class="sd">      time_sync_endpoint    Either TimeSyncEndpoint or None.</span>

<span class="sd">    Returns:</span>
<span class="sd">      return bosdyn.api.TimeRange  time range in robot time</span>
<span class="sd">    &quot;&quot;&quot;</span>
    <span class="n">start_datetime</span><span class="p">,</span> <span class="n">end_datetime</span> <span class="o">=</span> <span class="n">parse_timespan</span><span class="p">(</span><span class="n">timespan_spec</span><span class="p">)</span>
    <span class="k">return</span> <span class="n">robot_time_range_from_datetimes</span><span class="p">(</span><span class="n">start_datetime</span><span class="p">,</span> <span class="n">end_datetime</span><span class="p">,</span> <span class="n">time_sync_endpoint</span><span class="p">)</span></div>


<div class="viewcode-block" id="update_time_filter"><a class="viewcode-back" href="../../../python/bosdyn-client/src/bosdyn/client/time_sync.html#bosdyn.client.time_sync.update_time_filter">[docs]</a><span class="k">def</span> <span class="nf">update_time_filter</span><span class="p">(</span><span class="n">client</span><span class="p">,</span> <span class="n">timestamp</span><span class="p">,</span> <span class="n">timesync_endpoint</span><span class="p">):</span>
<span class="w">    </span><span class="sd">&quot;&quot;&quot;Set or convert fields of the proto that need timestamps in the robot&#39;s clock.</span>

<span class="sd">    Args:</span>
<span class="sd">        timestamp (float): Client time, such as from time.time().</span>
<span class="sd">        timesync_endpoint (TimeSyncEndpoint): A timesync endpoint associated with the robot object.</span>

<span class="sd">    Raises:</span>
<span class="sd">        bosdyn.client.robot_command.NoTimeSyncError: Could not find the timesync endpoint for the robot to convert the time.</span>
<span class="sd">    &quot;&quot;&quot;</span>
    <span class="c1"># Input timestamp is a float. (from time.time())</span>
    <span class="k">if</span> <span class="ow">not</span> <span class="n">timesync_endpoint</span><span class="p">:</span>
        <span class="k">raise</span> <span class="n">NoTimeSyncError</span><span class="p">(</span><span class="s2">&quot;[world object service] No timesync endpoint set for the robot.&quot;</span><span class="p">)</span>
    <span class="c1"># Lazy RobotTimeConverter: initialized only if needed to make a conversion.</span>
    <span class="n">converter</span> <span class="o">=</span> <span class="n">_TimeConverter</span><span class="p">(</span><span class="n">client</span><span class="p">,</span> <span class="n">timesync_endpoint</span><span class="p">)</span>
    <span class="k">return</span> <span class="n">converter</span><span class="o">.</span><span class="n">robot_timestamp_from_local_secs</span><span class="p">(</span><span class="n">timestamp</span><span class="p">)</span></div>


<div class="viewcode-block" id="update_timestamp_filter"><a class="viewcode-back" href="../../../python/bosdyn-client/src/bosdyn/client/time_sync.html#bosdyn.client.time_sync.update_timestamp_filter">[docs]</a><span class="k">def</span> <span class="nf">update_timestamp_filter</span><span class="p">(</span><span class="n">client</span><span class="p">,</span> <span class="n">timestamp</span><span class="p">,</span> <span class="n">timesync_endpoint</span><span class="p">):</span>
<span class="w">    </span><span class="sd">&quot;&quot;&quot;Set or convert fields of the proto that need timestamps in the robot&#39;s clock.</span>

<span class="sd">    Args:</span>
<span class="sd">        timestamp (google.protobuf.Timestamp): Client time.</span>
<span class="sd">        timesync_endpoint (TimeSyncEndpoint): A timesync endpoint associated with the robot object.</span>

<span class="sd">    Raises:</span>
<span class="sd">        bosdyn.client.robot_command.NoTimeSyncError: Could not find the timesync endpoint for the robot to convert the time.</span>
<span class="sd">    &quot;&quot;&quot;</span>
    <span class="c1"># Input timestamp is a google.protobuf.Timestamp</span>
    <span class="k">if</span> <span class="ow">not</span> <span class="n">timesync_endpoint</span><span class="p">:</span>
        <span class="k">raise</span> <span class="n">NoTimeSyncError</span><span class="p">(</span><span class="s2">&quot;[world object service] No timesync endpoint set for the robot.&quot;</span><span class="p">)</span>
    <span class="n">converter</span> <span class="o">=</span> <span class="n">_TimeConverter</span><span class="p">(</span><span class="n">client</span><span class="p">,</span> <span class="n">timesync_endpoint</span><span class="p">)</span>
    <span class="n">converter</span><span class="o">.</span><span class="n">convert_timestamp_from_local_to_robot</span><span class="p">(</span><span class="n">timestamp</span><span class="p">)</span>
    <span class="k">return</span> <span class="n">timestamp</span></div>




<div class="viewcode-block" id="TimeSyncEndpoint"><a class="viewcode-back" href="../../../python/bosdyn-client/src/bosdyn/client/time_sync.html#bosdyn.client.time_sync.TimeSyncEndpoint">[docs]</a><span class="k">class</span> <span class="nc">TimeSyncEndpoint</span><span class="p">:</span>
<span class="w">    </span><span class="sd">&quot;&quot;&quot;A wrapper that uses a TimeSyncClient object to establish and maintain timesync with a robot.</span>

<span class="sd">    This class manages internal state, including a clock identifier and previous best time sync</span>
<span class="sd">    estimates. This class automatically builds requests passed to the TimeSyncClient, so users</span>
<span class="sd">    don&#39;t have to worry about the details of establishing and maintaining timesync.</span>

<span class="sd">    This object is thread-safe.</span>
<span class="sd">    &quot;&quot;&quot;</span>

    <span class="k">def</span> <span class="fm">__init__</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">time_sync_client</span><span class="p">):</span>
        <span class="bp">self</span><span class="o">.</span><span class="n">_client</span> <span class="o">=</span> <span class="n">time_sync_client</span>
        <span class="bp">self</span><span class="o">.</span><span class="n">_lock</span> <span class="o">=</span> <span class="n">Lock</span><span class="p">()</span>
        <span class="c1"># Access these using the lock.</span>
        <span class="c1"># These should be updated by replacement, not mutation so that they may be used</span>
        <span class="c1">#  outside the lock after being accessed via the lock.</span>
        <span class="bp">self</span><span class="o">.</span><span class="n">_locked_previous_round_trip</span> <span class="o">=</span> <span class="kc">None</span>
        <span class="bp">self</span><span class="o">.</span><span class="n">_locked_previous_response</span> <span class="o">=</span> <span class="kc">None</span>
        <span class="bp">self</span><span class="o">.</span><span class="n">_locked_clock_identifier</span> <span class="o">=</span> <span class="s2">&quot;&quot;</span>

    <span class="nd">@property</span>
    <span class="k">def</span> <span class="nf">response</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
<span class="w">        </span><span class="sd">&quot;&quot;&quot;The last response message from the time-sync service.</span>

<span class="sd">        Returns:</span>
<span class="sd">          The bosdyn.api.TimeSyncResponse proto last returned by the server, or None if unset.</span>
<span class="sd">        &quot;&quot;&quot;</span>
        <span class="k">with</span> <span class="bp">self</span><span class="o">.</span><span class="n">_lock</span><span class="p">:</span>
            <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">_locked_previous_response</span>

    <span class="nd">@property</span>
    <span class="k">def</span> <span class="nf">has_established_time_sync</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
<span class="w">        </span><span class="sd">&quot;&quot;&quot;Checks if the client has successfully established time-sync with the robot.</span>

<span class="sd">        Returns:</span>
<span class="sd">            Boolean true if the previous time-sync update returned that time sync is OK.</span>
<span class="sd">        &quot;&quot;&quot;</span>
        <span class="n">response</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">response</span>
        <span class="c1"># pylint: disable=no-member</span>
        <span class="k">return</span> <span class="n">response</span> <span class="ow">and</span> <span class="n">response</span><span class="o">.</span><span class="n">state</span><span class="o">.</span><span class="n">status</span> <span class="o">==</span> <span class="n">time_sync_pb2</span><span class="o">.</span><span class="n">TimeSyncState</span><span class="o">.</span><span class="n">STATUS_OK</span>

    <span class="nd">@property</span>
    <span class="k">def</span> <span class="nf">round_trip_time</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
<span class="w">        </span><span class="sd">&quot;&quot;&quot;The previous round trip time.</span>

<span class="sd">        Returns:</span>
<span class="sd">          Round trip time as google.protobuf.Duration proto if available, otherwise None.</span>
<span class="sd">        &quot;&quot;&quot;</span>
        <span class="n">response</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">response</span>
        <span class="k">if</span> <span class="n">response</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
            <span class="k">return</span> <span class="kc">None</span>
        <span class="k">return</span> <span class="n">response</span><span class="o">.</span><span class="n">state</span><span class="o">.</span><span class="n">best_estimate</span><span class="o">.</span><span class="n">round_trip_time</span>

    <span class="nd">@property</span>
    <span class="k">def</span> <span class="nf">clock_identifier</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
<span class="w">        </span><span class="sd">&quot;&quot;&quot;The clock identifier for the instance of the time-sync client.</span>

<span class="sd">        Returns:</span>
<span class="sd">          A unique identifier for this client. Empty if get_new_estimate has not been called.</span>
<span class="sd">        &quot;&quot;&quot;</span>
        <span class="k">with</span> <span class="bp">self</span><span class="o">.</span><span class="n">_lock</span><span class="p">:</span>
            <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">_locked_clock_identifier</span>

    <span class="nd">@property</span>
    <span class="k">def</span> <span class="nf">clock_skew</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
<span class="w">        </span><span class="sd">&quot;&quot;&quot;The best current estimate of clock skew from the time-sync service.</span>

<span class="sd">        Returns:</span>
<span class="sd">            The google.protobuf.Duration representing the clock skew.</span>

<span class="sd">        Raises:</span>
<span class="sd">            NotEstablishedError: Time sync has not yet been established.</span>
<span class="sd">        &quot;&quot;&quot;</span>
        <span class="n">response</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">response</span>
        <span class="c1"># pylint: disable=no-member</span>
        <span class="k">if</span> <span class="ow">not</span> <span class="n">response</span> <span class="ow">or</span> <span class="n">response</span><span class="o">.</span><span class="n">state</span><span class="o">.</span><span class="n">status</span> <span class="o">!=</span> <span class="n">time_sync_pb2</span><span class="o">.</span><span class="n">TimeSyncState</span><span class="o">.</span><span class="n">STATUS_OK</span><span class="p">:</span>
            <span class="k">raise</span> <span class="n">NotEstablishedError</span>
        <span class="k">return</span> <span class="n">response</span><span class="o">.</span><span class="n">state</span><span class="o">.</span><span class="n">best_estimate</span><span class="o">.</span><span class="n">clock_skew</span>

<div class="viewcode-block" id="TimeSyncEndpoint.establish_timesync"><a class="viewcode-back" href="../../../python/bosdyn-client/src/bosdyn/client/time_sync.html#bosdyn.client.time_sync.TimeSyncEndpoint.establish_timesync">[docs]</a>    <span class="k">def</span> <span class="nf">establish_timesync</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">max_samples</span><span class="o">=</span><span class="mi">25</span><span class="p">,</span> <span class="n">break_on_success</span><span class="o">=</span><span class="kc">False</span><span class="p">):</span>
<span class="w">        </span><span class="sd">&quot;&quot;&quot;Perform time-synchronization until time sync established.</span>

<span class="sd">        Args:</span>
<span class="sd">            max_samples (int): The maximum number of times to attempt to establish time-sync</span>
<span class="sd">                               through time-synchronization.</span>
<span class="sd">            break_on_success (bool): If true, stop performing the time-synchronization after</span>
<span class="sd">                                     time-sync is established.</span>

<span class="sd">        Return:</span>
<span class="sd">            Boolean true if valid timesync has been established.</span>
<span class="sd">        &quot;&quot;&quot;</span>
        <span class="n">counter</span> <span class="o">=</span> <span class="mi">0</span>
        <span class="k">while</span> <span class="n">counter</span> <span class="o">&lt;</span> <span class="n">max_samples</span><span class="p">:</span>
            <span class="k">if</span> <span class="n">break_on_success</span> <span class="ow">and</span> <span class="bp">self</span><span class="o">.</span><span class="n">has_established_time_sync</span><span class="p">:</span>
                <span class="k">return</span> <span class="kc">True</span>
            <span class="bp">self</span><span class="o">.</span><span class="n">get_new_estimate</span><span class="p">()</span>
            <span class="n">counter</span> <span class="o">+=</span> <span class="mi">1</span>
        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">has_established_time_sync</span></div>

    <span class="k">def</span> <span class="nf">_get_update</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
        <span class="n">round_trip</span> <span class="o">=</span> <span class="kc">None</span>
        <span class="n">clock_identifier</span> <span class="o">=</span> <span class="kc">None</span>
        <span class="k">with</span> <span class="bp">self</span><span class="o">.</span><span class="n">_lock</span><span class="p">:</span>
            <span class="c1"># Only add a round trip to the request along with a clock identifier, otherwise</span>
            <span class="c1">#  the sever will respond with an invalid request error.</span>
            <span class="c1"># Responses with errors may not contain a clock identifier.</span>
            <span class="c1"># This may happen, for example, if the service was not yet ready at the time of</span>
            <span class="c1">#  the request.</span>
            <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">_locked_clock_identifier</span><span class="p">:</span>
                <span class="n">round_trip</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_locked_previous_round_trip</span>
                <span class="n">clock_identifier</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_locked_clock_identifier</span>
        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">_client</span><span class="o">.</span><span class="n">get_time_sync_update</span><span class="p">(</span><span class="n">previous_round_trip</span><span class="o">=</span><span class="n">round_trip</span><span class="p">,</span>
                                                 <span class="n">clock_identifier</span><span class="o">=</span><span class="n">clock_identifier</span><span class="p">)</span>

<div class="viewcode-block" id="TimeSyncEndpoint.get_new_estimate"><a class="viewcode-back" href="../../../python/bosdyn-client/src/bosdyn/client/time_sync.html#bosdyn.client.time_sync.TimeSyncEndpoint.get_new_estimate">[docs]</a>    <span class="k">def</span> <span class="nf">get_new_estimate</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
<span class="w">        </span><span class="sd">&quot;&quot;&quot;Perform an update-cycle toward achieving time-synchronization.</span>

<span class="sd">        Return:</span>
<span class="sd">            Boolean true if valid timesync has been established.</span>
<span class="sd">        &quot;&quot;&quot;</span>
        <span class="n">response</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_get_update</span><span class="p">()</span>
        <span class="n">rx_time</span> <span class="o">=</span> <span class="n">now_nsec</span><span class="p">()</span>

        <span class="c1"># Record the timing information for this GRPC call to pass to the next update</span>
        <span class="n">round_trip</span> <span class="o">=</span> <span class="n">time_sync_pb2</span><span class="o">.</span><span class="n">TimeSyncRoundTrip</span><span class="p">()</span>
        <span class="c1"># pylint: disable=no-member</span>
        <span class="n">round_trip</span><span class="o">.</span><span class="n">client_tx</span><span class="o">.</span><span class="n">CopyFrom</span><span class="p">(</span><span class="n">response</span><span class="o">.</span><span class="n">header</span><span class="o">.</span><span class="n">request_header</span><span class="o">.</span><span class="n">request_timestamp</span><span class="p">)</span>
        <span class="n">round_trip</span><span class="o">.</span><span class="n">server_rx</span><span class="o">.</span><span class="n">CopyFrom</span><span class="p">(</span><span class="n">response</span><span class="o">.</span><span class="n">header</span><span class="o">.</span><span class="n">request_received_timestamp</span><span class="p">)</span>
        <span class="n">round_trip</span><span class="o">.</span><span class="n">server_tx</span><span class="o">.</span><span class="n">CopyFrom</span><span class="p">(</span><span class="n">response</span><span class="o">.</span><span class="n">header</span><span class="o">.</span><span class="n">response_timestamp</span><span class="p">)</span>
        <span class="n">set_timestamp_from_nsec</span><span class="p">(</span><span class="n">round_trip</span><span class="o">.</span><span class="n">client_rx</span><span class="p">,</span> <span class="n">rx_time</span><span class="p">)</span>

        <span class="k">with</span> <span class="bp">self</span><span class="o">.</span><span class="n">_lock</span><span class="p">:</span>
            <span class="bp">self</span><span class="o">.</span><span class="n">_locked_previous_round_trip</span> <span class="o">=</span> <span class="n">round_trip</span>
            <span class="c1"># Store the response to get clock-skew estimate, etc.</span>
            <span class="bp">self</span><span class="o">.</span><span class="n">_locked_previous_response</span> <span class="o">=</span> <span class="n">response</span>
            <span class="bp">self</span><span class="o">.</span><span class="n">_locked_clock_identifier</span> <span class="o">=</span> <span class="n">response</span><span class="o">.</span><span class="n">clock_identifier</span>

        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">has_established_time_sync</span></div>

<div class="viewcode-block" id="TimeSyncEndpoint.get_robot_time_converter"><a class="viewcode-back" href="../../../python/bosdyn-client/src/bosdyn/client/time_sync.html#bosdyn.client.time_sync.TimeSyncEndpoint.get_robot_time_converter">[docs]</a>    <span class="k">def</span> <span class="nf">get_robot_time_converter</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
<span class="w">        </span><span class="sd">&quot;&quot;&quot;Get a RobotTimeConverter for current estimate for robot clock skew from local time.</span>

<span class="sd">        Returns:</span>
<span class="sd">          An instance of RobotTimeConvertor for the time-sync client.</span>

<span class="sd">        Raises:</span>
<span class="sd">          NotEstablishedError: If time sync has not yet been established.</span>
<span class="sd">        &quot;&quot;&quot;</span>
        <span class="k">return</span> <span class="n">RobotTimeConverter</span><span class="p">(</span><span class="n">timestamp_to_nsec</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">clock_skew</span><span class="p">))</span></div>

<div class="viewcode-block" id="TimeSyncEndpoint.robot_timestamp_from_local_secs"><a class="viewcode-back" href="../../../python/bosdyn-client/src/bosdyn/client/time_sync.html#bosdyn.client.time_sync.TimeSyncEndpoint.robot_timestamp_from_local_secs">[docs]</a>    <span class="k">def</span> <span class="nf">robot_timestamp_from_local_secs</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">local_time_secs</span><span class="p">):</span>
<span class="w">        </span><span class="sd">&quot;&quot;&quot;Convert a local time in seconds to a timestamp proto in robot time.</span>

<span class="sd">        Args:</span>
<span class="sd">            local_time_secs (float): Timestamp in seconds since the unix epoch (e.g.,</span>
<span class="sd">                                     from time.time()).</span>

<span class="sd">        Returns:</span>
<span class="sd">            google.protobuf.Timestamp representing local_time_secs in robot clock, or None if</span>
<span class="sd">                local_time_secs is None.</span>

<span class="sd">        Raises:</span>
<span class="sd">            NotEstablishedError:  Time sync has not yet been established.</span>
<span class="sd">        &quot;&quot;&quot;</span>
        <span class="k">if</span> <span class="ow">not</span> <span class="n">local_time_secs</span><span class="p">:</span>
            <span class="k">return</span> <span class="kc">None</span>
        <span class="n">converter</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">get_robot_time_converter</span><span class="p">()</span>
        <span class="k">return</span> <span class="n">converter</span><span class="o">.</span><span class="n">robot_timestamp_from_local_secs</span><span class="p">(</span><span class="n">local_time_secs</span><span class="p">)</span></div></div>


<div class="viewcode-block" id="TimeSyncThread"><a class="viewcode-back" href="../../../python/bosdyn-client/src/bosdyn/client/time_sync.html#bosdyn.client.time_sync.TimeSyncThread">[docs]</a><span class="k">class</span> <span class="nc">TimeSyncThread</span><span class="p">:</span>
<span class="w">    </span><span class="sd">&quot;&quot;&quot;Background thread for achieving and maintaining time-sync to the robot.&quot;&quot;&quot;</span>

    <span class="c1"># After achieving time sync, update estimate every minute.</span>
    <span class="n">DEFAULT_TIME_SYNC_INTERVAL_SEC</span> <span class="o">=</span> <span class="mi">60</span>

    <span class="c1"># When time-sync service is not yet ready, poll it at this interval</span>
    <span class="n">TIME_SYNC_SERVICE_NOT_READY_INTERVAL_SEC</span> <span class="o">=</span> <span class="mi">5</span>

    <span class="k">def</span> <span class="fm">__init__</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">time_sync_client</span><span class="p">,</span> <span class="n">time_sync_endpoint</span><span class="o">=</span><span class="kc">None</span><span class="p">):</span>
        <span class="bp">self</span><span class="o">.</span><span class="n">_time_sync_endpoint</span> <span class="o">=</span> <span class="n">time_sync_endpoint</span> <span class="ow">or</span> <span class="n">TimeSyncEndpoint</span><span class="p">(</span><span class="n">time_sync_client</span><span class="p">)</span>
        <span class="bp">self</span><span class="o">.</span><span class="n">_lock</span> <span class="o">=</span> <span class="n">Lock</span><span class="p">()</span>
        <span class="bp">self</span><span class="o">.</span><span class="n">_locked_time_sync_interval_sec</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">DEFAULT_TIME_SYNC_INTERVAL_SEC</span>
        <span class="bp">self</span><span class="o">.</span><span class="n">_locked_should_exit</span> <span class="o">=</span> <span class="kc">False</span>  <span class="c1"># Used to tell the thread to stop running.</span>
        <span class="bp">self</span><span class="o">.</span><span class="n">_locked_thread_exception</span> <span class="o">=</span> <span class="kc">None</span>  <span class="c1"># Stores any exception which ends the thread.</span>
        <span class="bp">self</span><span class="o">.</span><span class="n">_event</span> <span class="o">=</span> <span class="n">Event</span><span class="p">()</span>  <span class="c1"># Used to wait for next time sync, or until thread should exit.</span>
        <span class="bp">self</span><span class="o">.</span><span class="n">_thread</span> <span class="o">=</span> <span class="kc">None</span>

    <span class="k">def</span> <span class="fm">__del__</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
        <span class="c1"># Stop the thread when this object is deleted.</span>
        <span class="bp">self</span><span class="o">.</span><span class="n">stop</span><span class="p">()</span>

<div class="viewcode-block" id="TimeSyncThread.start"><a class="viewcode-back" href="../../../python/bosdyn-client/src/bosdyn/client/time_sync.html#bosdyn.client.time_sync.TimeSyncThread.start">[docs]</a>    <span class="k">def</span> <span class="nf">start</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
<span class="w">        </span><span class="sd">&quot;&quot;&quot;Start the thread.&quot;&quot;&quot;</span>
        <span class="k">with</span> <span class="bp">self</span><span class="o">.</span><span class="n">_lock</span><span class="p">:</span>
            <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">_thread</span> <span class="ow">and</span> <span class="bp">self</span><span class="o">.</span><span class="n">_thread</span><span class="o">.</span><span class="n">is_alive</span><span class="p">():</span>
                <span class="k">return</span>
            <span class="bp">self</span><span class="o">.</span><span class="n">_locked_should_exit</span> <span class="o">=</span> <span class="kc">False</span>
            <span class="bp">self</span><span class="o">.</span><span class="n">_locked_thread_exception</span> <span class="o">=</span> <span class="kc">None</span>
            <span class="bp">self</span><span class="o">.</span><span class="n">_event</span><span class="o">.</span><span class="n">clear</span><span class="p">()</span>
            <span class="bp">self</span><span class="o">.</span><span class="n">_thread</span> <span class="o">=</span> <span class="n">Thread</span><span class="p">(</span><span class="n">target</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">_timesync_thread</span><span class="p">)</span>
            <span class="bp">self</span><span class="o">.</span><span class="n">_thread</span><span class="o">.</span><span class="n">daemon</span> <span class="o">=</span> <span class="kc">True</span>
        <span class="bp">self</span><span class="o">.</span><span class="n">_thread</span><span class="o">.</span><span class="n">start</span><span class="p">()</span></div>

<div class="viewcode-block" id="TimeSyncThread.stop"><a class="viewcode-back" href="../../../python/bosdyn-client/src/bosdyn/client/time_sync.html#bosdyn.client.time_sync.TimeSyncThread.stop">[docs]</a>    <span class="k">def</span> <span class="nf">stop</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
<span class="w">        </span><span class="sd">&quot;&quot;&quot;Shut down the thread if it is running.&quot;&quot;&quot;</span>
        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">_thread</span><span class="p">:</span>
            <span class="k">with</span> <span class="bp">self</span><span class="o">.</span><span class="n">_lock</span><span class="p">:</span>
                <span class="bp">self</span><span class="o">.</span><span class="n">_locked_should_exit</span> <span class="o">=</span> <span class="kc">True</span>  <span class="c1"># Signal the thread to exit.</span>
            <span class="bp">self</span><span class="o">.</span><span class="n">_event</span><span class="o">.</span><span class="n">set</span><span class="p">()</span>  <span class="c1"># Stop the thread&#39;s wait for the next time-sync update.</span>
            <span class="bp">self</span><span class="o">.</span><span class="n">_thread</span><span class="o">.</span><span class="n">join</span><span class="p">()</span>  <span class="c1"># Join the thread after it exits.</span>
            <span class="bp">self</span><span class="o">.</span><span class="n">_thread</span> <span class="o">=</span> <span class="kc">None</span></div>

    <span class="nd">@property</span>
    <span class="k">def</span> <span class="nf">time_sync_interval_sec</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
<span class="w">        </span><span class="sd">&quot;&quot;&quot;Returns interval at which time-sync is updated in the thread.&quot;&quot;&quot;</span>
        <span class="k">with</span> <span class="bp">self</span><span class="o">.</span><span class="n">_lock</span><span class="p">:</span>
            <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">_locked_time_sync_interval_sec</span>

    <span class="nd">@time_sync_interval_sec</span><span class="o">.</span><span class="n">setter</span>
    <span class="k">def</span> <span class="nf">time_sync_interval_sec</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">val</span><span class="p">):</span>
<span class="w">        </span><span class="sd">&quot;&quot;&quot;Set interval at which time-sync is updated in the thread after sync is established.</span>

<span class="sd">        Args:</span>
<span class="sd">            val (float): The interval (in seconds) that the time-sync estimate should be updated.</span>
<span class="sd">        &quot;&quot;&quot;</span>
        <span class="k">with</span> <span class="bp">self</span><span class="o">.</span><span class="n">_lock</span><span class="p">:</span>
            <span class="bp">self</span><span class="o">.</span><span class="n">_locked_time_sync_interval_sec</span> <span class="o">=</span> <span class="n">val</span>
            <span class="bp">self</span><span class="o">.</span><span class="n">_event</span><span class="o">.</span><span class="n">set</span><span class="p">()</span>

    <span class="nd">@property</span>
    <span class="k">def</span> <span class="nf">should_exit</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
<span class="w">        </span><span class="sd">&quot;&quot;&quot;Returns True if thread should stop iterating.&quot;&quot;&quot;</span>
        <span class="k">with</span> <span class="bp">self</span><span class="o">.</span><span class="n">_lock</span><span class="p">:</span>
            <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">_locked_should_exit</span>

<div class="viewcode-block" id="TimeSyncThread.wait_for_sync"><a class="viewcode-back" href="../../../python/bosdyn-client/src/bosdyn/client/time_sync.html#bosdyn.client.time_sync.TimeSyncThread.wait_for_sync">[docs]</a>    <span class="k">def</span> <span class="nf">wait_for_sync</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">timeout_sec</span><span class="o">=</span><span class="mf">3.0</span><span class="p">):</span>
<span class="w">        </span><span class="sd">&quot;&quot;&quot;Wait for up to the given timeout for time-sync to be achieved</span>

<span class="sd">        Args:</span>
<span class="sd">          timeout_sec (float): Maximum time (seconds) to wait for time-sync to be achieved.</span>

<span class="sd">        Raises:</span>
<span class="sd">          InactiveThreadError:  Thread is not running.</span>
<span class="sd">          time_sync.TimedOutError:  Deadline to achieve time-sync is exceeded.</span>
<span class="sd">          Threading Exceptions: Errors from threading the processes.</span>
<span class="sd">        &quot;&quot;&quot;</span>
        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">has_established_time_sync</span><span class="p">:</span>
            <span class="k">return</span>
        <span class="n">end_time_sec</span> <span class="o">=</span> <span class="n">now_sec</span><span class="p">()</span> <span class="o">+</span> <span class="n">timeout_sec</span>
        <span class="k">while</span> <span class="ow">not</span> <span class="bp">self</span><span class="o">.</span><span class="n">stopped</span><span class="p">:</span>
            <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">endpoint</span><span class="o">.</span><span class="n">has_established_time_sync</span><span class="p">:</span>
                <span class="k">return</span>
            <span class="k">if</span> <span class="n">now_sec</span><span class="p">()</span> <span class="o">&gt;</span> <span class="n">end_time_sec</span><span class="p">:</span>
                <span class="k">raise</span> <span class="n">TimedOutError</span>
            <span class="n">time</span><span class="o">.</span><span class="n">sleep</span><span class="p">(</span><span class="mf">0.1</span><span class="p">)</span>
        <span class="n">thread_exc</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">thread_exception</span>
        <span class="k">if</span> <span class="n">thread_exc</span><span class="p">:</span>
            <span class="k">raise</span> <span class="n">thread_exc</span>
        <span class="k">raise</span> <span class="n">InactiveThreadError</span></div>

    <span class="nd">@property</span>
    <span class="k">def</span> <span class="nf">has_established_time_sync</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
<span class="w">        </span><span class="sd">&quot;&quot;&quot;Checks if the client has successfully established time-sync with the robot.</span>

<span class="sd">        Returns:</span>
<span class="sd">            Boolean true if the previous time-sync update returned that time sync is OK.</span>
<span class="sd">        &quot;&quot;&quot;</span>
        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">endpoint</span><span class="o">.</span><span class="n">has_established_time_sync</span>

    <span class="nd">@property</span>
    <span class="k">def</span> <span class="nf">stopped</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
<span class="w">        </span><span class="sd">&quot;&quot;&quot;Returns True if thread is no longer running.&quot;&quot;&quot;</span>
        <span class="k">with</span> <span class="bp">self</span><span class="o">.</span><span class="n">_lock</span><span class="p">:</span>
            <span class="k">return</span> <span class="ow">not</span> <span class="bp">self</span><span class="o">.</span><span class="n">_thread</span> <span class="ow">or</span> <span class="ow">not</span> <span class="bp">self</span><span class="o">.</span><span class="n">_thread</span><span class="o">.</span><span class="n">is_alive</span><span class="p">()</span>

    <span class="nd">@property</span>
    <span class="k">def</span> <span class="nf">thread_exception</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
<span class="w">        </span><span class="sd">&quot;&quot;&quot;Return any exception which ended the time-sync thread.&quot;&quot;&quot;</span>
        <span class="k">with</span> <span class="bp">self</span><span class="o">.</span><span class="n">_lock</span><span class="p">:</span>
            <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">_locked_thread_exception</span>

    <span class="nd">@property</span>
    <span class="k">def</span> <span class="nf">endpoint</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
<span class="w">        </span><span class="sd">&quot;&quot;&quot;Return the TimeSyncEndpoint used by this thread.&quot;&quot;&quot;</span>
        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">_time_sync_endpoint</span>

<div class="viewcode-block" id="TimeSyncThread.get_robot_clock_skew"><a class="viewcode-back" href="../../../python/bosdyn-client/src/bosdyn/client/time_sync.html#bosdyn.client.time_sync.TimeSyncThread.get_robot_clock_skew">[docs]</a>    <span class="k">def</span> <span class="nf">get_robot_clock_skew</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">timesync_timeout_sec</span><span class="o">=</span><span class="mi">0</span><span class="p">):</span>
<span class="w">        </span><span class="sd">&quot;&quot;&quot;Get current estimate for robot clock skew from local time.</span>

<span class="sd">        Args:</span>
<span class="sd">          timesync_timeout_sec (float):  Time to wait for timesync before doing conversion.</span>

<span class="sd">        Returns:</span>
<span class="sd">          Clock skew as a google.protobuf.Duration object</span>

<span class="sd">        Raises:</span>
<span class="sd">          InactiveThreadError: Time-sync thread exits before time-sync.</span>
<span class="sd">          time_sync.TimedOutError: Deadline to achieve time-sync is exceeded.</span>
<span class="sd">          Threading Exceptions: Errors from threading the processes.</span>
<span class="sd">        &quot;&quot;&quot;</span>
        <span class="bp">self</span><span class="o">.</span><span class="n">wait_for_sync</span><span class="p">(</span><span class="n">timeout_sec</span><span class="o">=</span><span class="n">timesync_timeout_sec</span><span class="p">)</span>
        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">endpoint</span><span class="o">.</span><span class="n">clock_skew</span></div>

<div class="viewcode-block" id="TimeSyncThread.get_robot_time_converter"><a class="viewcode-back" href="../../../python/bosdyn-client/src/bosdyn/client/time_sync.html#bosdyn.client.time_sync.TimeSyncThread.get_robot_time_converter">[docs]</a>    <span class="k">def</span> <span class="nf">get_robot_time_converter</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">timesync_timeout_sec</span><span class="o">=</span><span class="mi">0</span><span class="p">):</span>
<span class="w">        </span><span class="sd">&quot;&quot;&quot;Get a RobotTimeConverter for current estimate for robot clock skew from local time.</span>

<span class="sd">        Args:</span>
<span class="sd">            timesync_timeout_sec (float):  Time to wait for timesync before doing conversion.</span>

<span class="sd">        Raises:</span>
<span class="sd">          InactiveThreadError: Time-sync thread exits before time-sync.</span>
<span class="sd">          time_sync.TimedOutError: Deadline to achieve time-sync is exceeded.</span>
<span class="sd">          Threading Exceptions: Errors from threading the processes.</span>
<span class="sd">        &quot;&quot;&quot;</span>
        <span class="bp">self</span><span class="o">.</span><span class="n">wait_for_sync</span><span class="p">(</span><span class="n">timeout_sec</span><span class="o">=</span><span class="n">timesync_timeout_sec</span><span class="p">)</span>
        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">endpoint</span><span class="o">.</span><span class="n">get_robot_time_converter</span><span class="p">()</span></div>

<div class="viewcode-block" id="TimeSyncThread.robot_timestamp_from_local_secs"><a class="viewcode-back" href="../../../python/bosdyn-client/src/bosdyn/client/time_sync.html#bosdyn.client.time_sync.TimeSyncThread.robot_timestamp_from_local_secs">[docs]</a>    <span class="k">def</span> <span class="nf">robot_timestamp_from_local_secs</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">local_time_secs</span><span class="p">,</span> <span class="n">timesync_timeout_sec</span><span class="o">=</span><span class="mi">0</span><span class="p">):</span>
<span class="w">        </span><span class="sd">&quot;&quot;&quot;Convert a local time in seconds to a timestamp proto in robot time.</span>

<span class="sd">        Args:</span>
<span class="sd">            local_time_secs (float): Timestamp in seconds since the unix epoch (e.g.,</span>
<span class="sd">                from time.time()).</span>
<span class="sd">            timesync_timeout_sec (float): Time to wait for timesync before doing conversion.</span>

<span class="sd">        Returns:</span>
<span class="sd">            google.protobuf.Timestamp representing local_time_secs in robot clock, or None if</span>
<span class="sd">            local_time_secs is None.</span>

<span class="sd">        Raises:</span>
<span class="sd">            InactiveThreadError: Time-sync thread exits before time-sync.</span>
<span class="sd">            time_sync.TimedOutError: Deadline to achieve time-sync is exceeded.</span>
<span class="sd">            Threading Exceptions: Errors from threading the processes.</span>
<span class="sd">        &quot;&quot;&quot;</span>
        <span class="k">if</span> <span class="ow">not</span> <span class="n">local_time_secs</span><span class="p">:</span>
            <span class="k">return</span> <span class="kc">None</span>
        <span class="n">converter</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">get_robot_time_converter</span><span class="p">(</span><span class="n">timesync_timeout_sec</span><span class="p">)</span>
        <span class="k">return</span> <span class="n">converter</span><span class="o">.</span><span class="n">robot_timestamp_from_local_secs</span><span class="p">(</span><span class="n">local_time_secs</span><span class="p">)</span></div>

    <span class="k">def</span> <span class="nf">_timesync_thread</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
<span class="w">        </span><span class="sd">&quot;&quot;&quot;Background thread which communicates with the time-sync service on robot.</span>

<span class="sd">        The purpose of this thread is to achieve and maintain time-sync, which is an estimate</span>
<span class="sd">        of the difference between the robot&#39;s and client&#39;s system clocks.</span>
<span class="sd">        &quot;&quot;&quot;</span>
        <span class="k">try</span><span class="p">:</span>
            <span class="k">while</span> <span class="ow">not</span> <span class="bp">self</span><span class="o">.</span><span class="n">should_exit</span><span class="p">:</span>
                <span class="n">response</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_time_sync_endpoint</span><span class="o">.</span><span class="n">response</span>
                <span class="c1"># pylint: disable=no-member</span>
                <span class="k">if</span> <span class="p">(</span><span class="ow">not</span> <span class="n">response</span> <span class="ow">or</span> <span class="n">response</span><span class="o">.</span><span class="n">state</span><span class="o">.</span><span class="n">status</span>
                        <span class="o">==</span> <span class="n">time_sync_pb2</span><span class="o">.</span><span class="n">TimeSyncState</span><span class="o">.</span><span class="n">STATUS_MORE_SAMPLES_NEEDED</span><span class="p">):</span>
                    <span class="c1"># No wait between updates while time-sync is not established.</span>
                    <span class="k">pass</span>
                <span class="k">elif</span> <span class="n">response</span><span class="o">.</span><span class="n">state</span><span class="o">.</span><span class="n">status</span> <span class="o">==</span> <span class="n">time_sync_pb2</span><span class="o">.</span><span class="n">TimeSyncState</span><span class="o">.</span><span class="n">STATUS_SERVICE_NOT_READY</span><span class="p">:</span>
                    <span class="c1"># Wait a few seconds between updates while waiting for time-sync service</span>
                    <span class="c1">#  to be ready.</span>
                    <span class="bp">self</span><span class="o">.</span><span class="n">_event</span><span class="o">.</span><span class="n">wait</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">TIME_SYNC_SERVICE_NOT_READY_INTERVAL_SEC</span><span class="p">)</span>
                <span class="k">else</span><span class="p">:</span>
                    <span class="c1"># When sync has been established, use default wait time.</span>
                    <span class="bp">self</span><span class="o">.</span><span class="n">_event</span><span class="o">.</span><span class="n">wait</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">time_sync_interval_sec</span><span class="p">)</span>
                <span class="bp">self</span><span class="o">.</span><span class="n">_event</span><span class="o">.</span><span class="n">clear</span><span class="p">()</span>

                <span class="c1"># Do RPC call to update time-sync information.</span>
                <span class="k">if</span> <span class="ow">not</span> <span class="bp">self</span><span class="o">.</span><span class="n">should_exit</span><span class="p">:</span>
                    <span class="bp">self</span><span class="o">.</span><span class="n">_time_sync_endpoint</span><span class="o">.</span><span class="n">get_new_estimate</span><span class="p">()</span>

        <span class="c1"># For now, on GRPC error, store the error object and exit the thread.</span>
        <span class="k">except</span> <span class="n">Error</span> <span class="k">as</span> <span class="n">err</span><span class="p">:</span>
            <span class="k">with</span> <span class="bp">self</span><span class="o">.</span><span class="n">_lock</span><span class="p">:</span>
                <span class="bp">self</span><span class="o">.</span><span class="n">_locked_thread_exception</span> <span class="o">=</span> <span class="n">err</span></div>
</pre></div>

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